Kinematics Analysis of a Parallel Robotic Manipulator
The parallel robotic manipulator has attracted many researchers’ attention and it also has growing applications to different areas. In this paper an algebraic method for solving the direct kinematics analysis problem for a parallel robotic manipulator. Based on the presented algebraic method, the problem is derived into a 40th degree univariate polynomial. All complete sets of 40 solutions to the problem are obtained. The proposed method is exemplified by a numerical example.
X. G. Huang et al., "Kinematics Analysis of a Parallel Robotic Manipulator", Applied Mechanics and Materials, Vols. 29-32, pp. 956-960, 2010